EP2832585B1 - Hayon élévateur et son procédé de commande - Google Patents

Hayon élévateur et son procédé de commande Download PDF

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Publication number
EP2832585B1
EP2832585B1 EP14002397.9A EP14002397A EP2832585B1 EP 2832585 B1 EP2832585 B1 EP 2832585B1 EP 14002397 A EP14002397 A EP 14002397A EP 2832585 B1 EP2832585 B1 EP 2832585B1
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EP
European Patent Office
Prior art keywords
loading platform
sensor
acceleration sensor
tail lift
acceleration
Prior art date
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Active
Application number
EP14002397.9A
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German (de)
English (en)
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EP2832585A1 (fr
Inventor
Uwe Popken
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Palfinger Tail Lifts GmbH
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Palfinger Tail Lifts GmbH
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Publication of EP2832585A1 publication Critical patent/EP2832585A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/44—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading having a loading platform thereon raising the load to the level of the load-transporting element
    • B60P1/4471—General means for controlling movements of the loading platform, e.g. hydraulic systems

Definitions

  • the invention relates to a method for controlling a tail lift according to the preamble of claim 1. Furthermore, the invention relates to a tail lift according to the preamble of claim 6.
  • Tail lifts of the type mentioned here are used to facilitate the loading and unloading of vehicles.
  • the tail lift has a lifting, lowering and swiveling loading platform.
  • the loading platform is pivoted down into a horizontal or almost horizontal operating position.
  • a low level for example a ground level.
  • the loading platform is lifted to load the vehicle.
  • the loading platform is seen from the side wedge-shaped to form a pointed rear transverse edge.
  • the loading platform which is lowered to the ground, for example, usually deviates from the course of the ground.
  • the loading platform is again pivoted after lowering to the ground so that it rests with the sharp rear transverse edge on the ground.
  • this is referred to as "ground leveling”.
  • ground leveling Before lifting the loading platform is the Ground leveling initially balanced by slightly swinging the loading platform, so that their upper floor surface again horizontal or almost horizontal.
  • the US 2010/0241320 A1 discloses a method for controlling a tail lift with a variety of different sensors. Among other things, acceleration sensors are provided for determining movement speeds of the loading platform.
  • the present invention seeks to provide a tail lift and a method for controlling the same, which ensure a simple and safe operation.
  • a method for achieving this object comprises the measures of claim 1. Accordingly, it is intended to determine both the swivel angle of the loading platform and dynamic values when moving the platform in order to use at least part of these values for at least one subsequent movement sequence of the loading platform. Based on the determined dynamic values can be determined whether the loading platform is currently being raised or lowered and / or the loading platform performs a pivoting movement. The additional detection of the swivel angle, the respective instantaneous pivot state of the loading platform can be determined, for example, whether the loading platform is swung up, whether it is swung down in a suitable position for loading or whether a bottom adjustment has taken place.
  • the operator or a control of the tail lift are given all the values that are necessary by at least one to control, monitor and / or initiate subsequent movement, or to influence other movements of the loading platform.
  • the method also provides for determining from the determined dynamic values whether and when the loading platform is fully lowered and / or fully raised. This is signaled by unchanged dynamic values or dynamic values that are equal to "zero". Through the thus detected complete lowering of the loading platform, the soil equalization can be initiated without the need for special mechanical or hydraulic devices are required.
  • the detection of the fully raised loading platform is important because then safe objects from the cargo compartment of the vehicle to the loading platform or vice versa are transferred, especially if this is usually done with pallet truck.
  • At least the dynamic values are stored, in particular continuously. This results in a preferably complete record of all movements of the tail lift, and that at least the loading platform.
  • all the values (data and / or signals) available to control the tail lift are required, for example to initiate at least one next movement sequence at the right time.
  • the method is at least detected by means of at least one determined dynamic value, whether a lowering or lifting movement of the loading platform is terminated, started and / or interrupted.
  • it can be determined by means of a corresponding dynamic value whether the loading platform is lowered to the ground, or rests on the ground and then the ground leveling can be started, if the loading platform is raised, in particular is raised sufficiently and / or the lifting or Lowering the loading platform was interrupted for an unforeseen reason.
  • soil leveling can be started or undone at the right time.
  • a preferably continuous monitoring of the movement sequences of the tail lift, in particular the loading platform takes place.
  • the method on which the invention is based is designed in order to initiate or start soil equalization based on at least one dynamic value that detects the complete lowering of the loading platform.
  • the soil equalization is also terminated automatically, which can also take place as a function of a characteristic dynamic value or alternatively or additionally by the swivel angle value.
  • At least acceleration and / or deceleration values of the loading platform are determined as dynamic values, preferably sensory.
  • Such acceleration or deceleration values (negative accelerations) or also gravitational values change upon the initiation of a movement, upon the termination of a movement and also as changes in the speed, for example the lifting or lowering speed.
  • the acceleration or gravitational values also recorded allow conclusions to be drawn regarding the overall motion behavior of the loading platform and its instantaneous pivoting angle. From this, all or at least some movements of the tail lift, in particular the lifting, lowering, swivel and Bodenan Dermavorgang, automatically perform and / or monitor manually performed operations of the tail lift.
  • a tail lift for solving the above-mentioned problem has the features of claim 6. Accordingly, at least one acceleration sensor is also provided in addition to the at least one inclination sensor.
  • the at least one acceleration sensor is assigned to the loading platform. It may be attached to the outside of the loading platform, for example on a side wall. But it is also an attachment of the or each acceleration sensor in the interior of the loading platform conceivable. Together with both sensors, the momentary swivel angle of the loading platform and its movement behavior (speed changes, movement interruptions or standstill) can be determined. From this, all information important for the automatic or manual operation of the tail lift can be determined. Movements of the tail lift can be stopped or started automatically and, alternatively or additionally, an automatic monitoring of the operation of the tail lift can take place.
  • the acceleration sensor By mounting the acceleration sensor on or in the loading platform, the acceleration sensor makes the movements of the same, in particular positive or negative accelerations, with and thereby generates a signal proportional to the magnitude of the acceleration, and preferably also the direction. If the loading platform does not execute any movements, this signal is "zero", and thus a clear indication of a current idle state of the loading platform. From the direction of the acceleration and / or from the positive or negative acceleration, it can be deduced which movements the loading platform currently performs.
  • the loading platform makes it possible to combine the at least one acceleration sensor and the at least one inclination sensor to form a sensor package or a sensor unit and to assign this or these preferably to the loading platform. Because the sensors used are very small, they can also be combined to form a relatively small sensor package, which can be fastened as a whole to the loading platform or possibly also other parts of the tail lift. It then only takes one bus from the sensor package for control, an operating unit, a microprocessor, an evaluation and / or a memory to be performed. All this simplifies the installation effort and also enables quick repairs.
  • the at least one acceleration sensor and / or the at least one tilt sensor are linked at least to the operating unit, a controller and / or an evaluation unit.
  • the signals originating from the acceleration sensor and / or inclination sensor can optionally be used after preparation in the control system for automatic control commands of the tail lift and / or for monitoring, in particular, manual operating commands generated by the control.
  • the evaluation unit or the controller assigns at least one memory which preferably continuously stores the signals generated by the at least one tilt sensor and / or acceleration sensor, so that in the memory, a movement history of the tail lift, in particular the loading platform, is deposited, which various purposes can be used and / or evaluated.
  • the tail lift 10 shown here is arranged on a rear side of a vehicle body 11 of a partially illustrated vehicle.
  • the tail lift 10 has a flat loading platform 12, which is articulated via a hoist 13, lowered and pivotally mounted on a transversely mounted to the direction of travel on the chassis of the vehicle support tube 14.
  • the lifting mechanism 13 has pressure medium cylinders 15 and 16 for pivoting or raising and lowering the loading platform 12.
  • 15 and 16 electromotively operated linear drives for lifting, lowering or pivoting of the loading platform 12 instead of the pressure medium cylinder.
  • a control panel 17 is provided for actuating the pivoting, lifting and lowering operation of the loading platform 12. This has corresponding control switches that can be manually operated by an operator, whereby the loading platform 12 is individually pivoted, raised or lowered.
  • the tail lift 10 is assigned a plurality of sensors, specifically at least one inclination sensor 18 and at least one acceleration sensor 19.
  • the inclination sensor 18 and the acceleration sensor 19 are combined to form the common sensor arrangement.
  • the inclination sensor 18 and the acceleration sensor 19 may be microsensors which, due to their small size, can be attached anywhere on the tail lift 10.
  • the tilt sensor 18 and the acceleration sensor 19 are attached to the loading platform 12.
  • the inclination sensor 18 and the acceleration sensor 19 may be attached anywhere on the loading platform 12.
  • the inclination sensor 18 and the acceleration sensor 19 are arranged at a sheltered location, where there is no risk of damage by transported on the loading platform 12 objects.
  • the acceleration sensor 19 and the inclination sensor 18 are attached to an upright, running in the direction of travel of the vehicle side wall of the loading platform 12, for example, in a designated (not shown in the figures) niche for the protection of the inclination sensor 18 and Acceleration sensor 19. It is also conceivable to accommodate the inclination sensor 18 and / or the acceleration sensor 19 in the interior of the loading platform 12.
  • the at least one tilt sensor 18 provides an electrical signal that is tilt dependent. This signal thus changes with the inclination or inclination of the loading platform 12 relative to the horizontal.
  • the at least one acceleration sensor 19 detects dynamic values and outputs corresponding electrical signals that change with increasing and decreasing acceleration. The signal also changes when the loading platform accelerates negatively, that is, decelerates. Optionally, the inclination sensor 18 may emit a negative signal.
  • the acceleration or deceleration values (negative acceleration) received by at least one inclination sensor 18 relate to the loading platform 12. If the loading platform 12 does not experience acceleration or deceleration, the at least one inclination sensor 18 detects this by a corresponding electrical signal, for example can this be zero then.
  • Both the inclination sensor 18 and the acceleration sensor 19 are designed so that they continuously emit electrical signals, namely different signals, based on the inclination of the loading platform 12, the acceleration or deceleration of the loading platform 12 or a stoppage of the loading platform 12.
  • the at least one inclination sensor 18 and the acceleration sensor 19 are connected by suitable data lines or possibly also wirelessly to a circuit and / or controller, not shown.
  • This is preferably a microprocessor (CPU). This serves both for storing and for evaluating the electrical signals of the at least one acceleration sensor 19 and the inclination sensor 18.
  • At least one inclination sensor 18 and at least one acceleration sensor 19 detect movements of the loading platform 12 of the tail lift 10, preferably continuously.
  • information is available that is automatic or semi-automatic Allow initiation of subsequent movements or can be used to monitor the manually made by the operator switching commands.
  • the orientation or inclination of the loading platform 12, preferably its upper effective area 21, detectable From at least one inclination sensor 18, the orientation or inclination of the loading platform 12, preferably its upper effective area 21, detectable.
  • the inclination sensor 18 can determine whether the loading platform 12 has swiveled up into the rest position ( Fig. 1 ), whether it is in the downswinged operating position ( Fig. 2 to 4 ) or whether in the operating position, the useful surface 21 of the loading platform 12 is horizontal or in an inclined position extending slightly to the horizontal, in which a loading and unloading of the loading platform 12 with the objects to be lifted or lowered by this is possible.
  • the loading platform 12 shown here is formed wedge-shaped viewed transversely to the direction of travel of the vehicle.
  • the underside 22 of the loading platform 12 opposite the upper useful surface 21 extends at an acute angle to the useful surface 21.
  • the usable surface 21 and the underside 22 converge toward a rear transverse edge 23.
  • the at least one acceleration sensor 19 is used to control, namely initiate and end ground leveling, and also to monitor the process of ground leveling and reversal, in the first place Fig. 3 is lowered to the ground 20, namely on the floor 20 strikes, which leads to a negative acceleration, that is, a delay from the acceleration sensor 19 is detected.
  • the at least one acceleration sensor 19 then gives a signal to the controller, which can then automatically perform a ground adjustment by the loading platform 12 is pivoted, in the illustrated embodiment ( 3 and 4 ) clockwise.
  • the at least one acceleration sensor 19 again detects a negative acceleration (deceleration), so that the controller receives a ground leveling signal from the acceleration sensor 19.
  • the loading platform 15 is pivoted counterclockwise until the rear transverse edge 23 lifted off the ground 20 and the loading platform 12 is aligned so that it can be used to raise objects.
  • the continuously supplied by at least one acceleration sensor 19 signals alone or optionally in conjunction with the signals of at least one inclination sensor 18 and other control purposes of the tail lift 10, in particular the raising, lowering and pivoting of the loading platform 12 may be used. So can be detected by the acceleration sensor 19 when the loading platform 12 its maximum raised position ( Fig. 2 ) has reached. The loading platform 12 then strikes below and / or behind the loading surface of the vehicle body 11, which in turn leads to a delay of the loading platform 12 detected by the at least one acceleration sensor 19. This is a characteristic signal for the controller to stop the lifting operation of the loading platform 12. If desired, then the distressschwenkende loading platform 12 in the rest position of Fig. 1 to be brought. As soon as the rear transverse edge 23 strikes against this pointed discharge platform 12 behind the vehicle body 11, this in turn is detected by the acceleration sensor 19, which then stops pivoting the loading platform 12 into the rest position (also called closed position).
  • the signals detected by the at least one acceleration sensor 19 may also be vector signals which also include the direction of the acceleration.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Step Arrangements And Article Storage (AREA)
  • Operation Control Of Excavators (AREA)

Claims (8)

  1. Procédé de commande d'un hayon élévateur (10) présentant une plate-forme de chargement (12), dans lequel la plate-forme de chargement (12) peut être aussi bien inclinée qu'abaissée ou relevée, et dans lequel on détermine l'angle d'inclinaison de la plate-forme de chargement (12) lors du mouvement de celle-ci, caractérisé en ce qu'en plus de l'angle d'inclinaison on détermine également des valeurs dynamiques lors du mouvement de la plate-forme de chargement (12) et on les utilise pour au moins une opération de mouvement ultérieur de la plate-forme de chargement (12) et on détecte à l'aide des valeurs dynamiques déterminées à quel moment la plate-forme de chargement (12) est entièrement abaissée et/ou entièrement relevée.
  2. Procédé selon la revendication 1, caractérisé en ce que l'on mémorise, de préférence en continu, l'angle d'inclinaison et/ou les valeurs dynamiques.
  3. Procédé selon une revendication 1 ou 2, caractérisé en ce que l'on détecte à l'aide des valeurs dynamiques déterminées au moins si un mouvement de descente ou de levage de la plate-forme de chargement se termine, commence et/ou est interrompu.
  4. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que l'on introduit un dépôt à même le sol de la plate-forme de chargement (12) au moins à l'aide de valeurs dynamiques, qui détectent la descente totale de la plate-forme de chargement (12).
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que l'on détermine comme valeurs dynamiques, de préférence à l'aide de capteurs, au moins des valeurs d'accélération et/ou de ralentissement de la plate-forme de chargement (12), éventuellement aussi les directions des valeurs.
  6. Hayon élévateur (10) pour des véhicules avec une plate-forme de chargement (12), un mécanisme de levage (13) portant celle-ci pour lever, abaisser et/ou incliner la plate-forme de chargement (12), au moins un détecteur d'inclinaison (18) pour la détermination de l'inclinaison de la plate-forme de chargement (12), et au moins un capteur d'accélération (19) prévu en plus du détecteur d'inclinaison (18), ainsi qu'éventuellement une unité de commande, caractérisé en ce que ledit au moins un capteur d'accélération (19) est associé à la plate-forme de chargement (11).
  7. Hayon élévateur (10) selon la revendication 6, caractérisé en ce que ledit au moins un capteur d'accélération (19) et le détecteur d'inclinaison (18) sont rassemblés en une unité de capteurs, dans lequel l'unité de capteurs est de préférence associée à la plate-forme de chargement (12).
  8. Hayon élévateur (10) selon une revendication 6 ou 7, caractérisé en ce que ledit au moins un capteur d'accélération (19) et/ou ledit au moins un détecteur d'inclinaison (18) sont reliés à une unité d'évaluation et/ou à une commande, dans lequel de préférence une mémoire pour les signaux détectés par le capteur d'accélération (19) ou le détecteur d'inclinaison (18) est associée à l'unité d'évaluation ou à la commande.
EP14002397.9A 2013-07-30 2014-07-11 Hayon élévateur et son procédé de commande Active EP2832585B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102013012598.7A DE102013012598A1 (de) 2013-07-30 2013-07-30 Hubladebühne und Verfahren zur Steuerung derselben

Publications (2)

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EP2832585A1 EP2832585A1 (fr) 2015-02-04
EP2832585B1 true EP2832585B1 (fr) 2019-09-25

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EP14002397.9A Active EP2832585B1 (fr) 2013-07-30 2014-07-11 Hayon élévateur et son procédé de commande

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EP (1) EP2832585B1 (fr)
DE (1) DE102013012598A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015215843A1 (de) 2015-08-19 2017-02-23 Bär Management- und Beteiligungsgesellschaft mbH Hubladebühne bei einem Kraftfahrzeug
CN114111749B (zh) * 2021-10-29 2022-12-02 江苏凯卓立液压设备有限公司 一种利用陀螺仪判断和计算液压尾板动作的系统及方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100241320A1 (en) * 2009-03-18 2010-09-23 Lugash Casey Liftgate controller
DE102011011085A1 (de) * 2011-02-11 2012-08-16 Mbb Palfinger Gmbh Verfahren zum Steuern einer Hubladebühne
DE102011100643A1 (de) * 2011-05-05 2012-11-08 Bär Management- und Beteiligungsgesellschaft mbH Verfahren zum Betreiben einer Überwachungsanordnung für eine Hubladebühne, Überwachungsanordnung und Hubladebühne
EP2620322B1 (fr) * 2012-01-24 2016-04-13 Bär Management- und Beteiligungsgesellschaft mbH Procédé destiné au fonctionnement d'une plateforme de chargement

Non-Patent Citations (1)

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Publication number Publication date
DE102013012598A1 (de) 2015-02-19
EP2832585A1 (fr) 2015-02-04

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